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                <h1 class="post-title" itemprop="name headline"> OpenGL绘图实例一之机器人的绘制 </h1>
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                <h2 id="综述"><a href="#综述" class="headerlink" title="综述"></a>综述</h2>
                <p>计算机图形学教材中有多种绘图方法，如直线的DDA算法、正负法、Bresenham算法和画圆弧的正负法和Bresenham算法。 同样，OpenGL类库也为我们提供了多种绘图方法，比如 glVertex2d，在这里我们用类库的方法来实现一个机器人的绘制。DDA等算法实现之后我们再替换类库的 glVertex2d 方法。</p>
                <h2 id="绘制要求"><a href="#绘制要求" class="headerlink" title="绘制要求"></a>绘制要求</h2>
                <p>利用 glVertex2d 和 glVertex2f 在二维平面上绘制如下的机器人。所以我们现在不需要三维的绘图方法，仅在平面绘制即可。 <a href="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/20150410115231.jpg" target="_blank" rel="noopener"><img src="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/20150410115231.jpg" alt="20150410115231"></a></p>
                <h2 id="问题分析"><a href="#问题分析" class="headerlink" title="问题分析"></a>问题分析</h2>
                <p>经过观察我们发现，图中包含了圆角矩形，矩形，直线，圆形，弧形，三角形，而对于 glVertex2d 的方法，只是定位好坐标点，然后利用坐标点连线或者形成封闭图形来绘制。所以，对于圆角矩形，弧形等，我们可以利用三角函数来求取坐标，并连线即可。</p>
                <h3 id="1-圆角矩形的解决方案"><a href="#1-圆角矩形的解决方案" class="headerlink" title="1.圆角矩形的解决方案"></a>1.圆角矩形的解决方案</h3>
                <p>对于圆角矩形，顾名思义每个角是由一个四分之一圆弧组成的。我们定义这个圆弧的半径为cirR，整个圆角矩形的宽度为width，高度为height，那么抛出四个角的圆弧，就会在圆角矩形内部形成一个小的矩形，我们定义它的宽高分别为w，h。另外，圆角矩形的中心点为(centerX,centerY)，如下图所示 （博主原创图，盗图必究） <a href="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/11-e1428648703474.png" target="_blank" rel="noopener"><img src="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/11-e1428648703474.png" alt=""></a> 在OpenGL中，可以定义一个绘图模式</p>
                <figure class="highlight lisp">
                  <table>
                    <tr>
                      <td class="gutter">
                        <pre><span class="line">1</span><br></pre>
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                        <pre><span class="line">glBegin(<span class="name">GL_LINE_LOOP</span>)<span class="comment">;</span></span><br></pre>
                      </td>
                    </tr>
                  </table>
                </figure>
                <p>可以绘制封闭曲线，也就是说，我们所有调用的 glVertex2f 函数绘制的点均可以自动连接成一个封闭曲线。 所以，我们要做的就是找出圆角的坐标，利用 C++ 中的三角函数来计算右上角小圆所在的路径，我们设角度为X，所以圆弧的x方向延伸长度为 cirRcosX，在y方向延伸长度为 cirRsinX 对于右上角的四分之一圆弧，它所在的路径x坐标便是 centerX+w/2+cirRcosX = centerX+width/2-cirR+cirRcosX，同理，y路径坐标便是 centerY+h/2+cirRsinX = centerY+height/2-cirR+cirRsinX 当然对于其他的角，是加 w/2 还是减 w/2 就要看它所在的象限了。 另外对于精确度的问题，我们可以定义一个 divide 变量，将四分之一圆弧分成若干个点来绘制，当然分的份数越多，越精细，分的份数的值就是 divide，所以每次增加的弧度便是 PI/(2*divide) 方法最终实现如下，我们传入矩形的宽高，矩形中心的坐标，圆角半径即可进行绘制。</p>
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                      </td>
                      <td class="code">
                        <pre><span class="line"><span class="comment">//画圆角矩形，传入矩形中心点坐标，矩形宽高，角半径</span></span><br><span class="line"><span class="built_in">void</span> glRoundRec(<span class="built_in">int</span> centerX,<span class="built_in">int</span> centerY,<span class="built_in">int</span> width,<span class="built_in">int</span> height,<span class="built_in">float</span> cirR)&#123;</span><br><span class="line">	<span class="comment">//二分之PI，一个象限的角度</span></span><br><span class="line">	<span class="built_in">float</span> PI_HALF = PI/<span class="number">2</span>;</span><br><span class="line">	<span class="comment">//划分程度,值越大画得越精细</span></span><br><span class="line">	<span class="built_in">float</span> divide=<span class="number">20.0</span>;</span><br><span class="line">	<span class="comment">//圆角矩形的坐标</span></span><br><span class="line">    <span class="built_in">float</span> tx,ty; </span><br><span class="line">	<span class="comment">//画封闭曲线</span></span><br><span class="line">    glBegin(GL_LINE_LOOP);</span><br><span class="line">	<span class="comment">//四个象限不同的操作符</span></span><br><span class="line">    <span class="built_in">int</span> opX[<span class="number">4</span>]=&#123;<span class="number">1</span>,<span class="number">-1</span>,<span class="number">-1</span>,<span class="number">1</span>&#125;;</span><br><span class="line">    <span class="built_in">int</span> opY[<span class="number">4</span>]=&#123;<span class="number">1</span>,<span class="number">1</span>,<span class="number">-1</span>,<span class="number">-1</span>&#125;;</span><br><span class="line">	<span class="comment">//用来计数，从第一象限到第四象限</span></span><br><span class="line">    <span class="built_in">float</span> x=<span class="number">0</span>;</span><br><span class="line">	<span class="comment">//x自增时加的值</span></span><br><span class="line">	<span class="built_in">float</span> part=<span class="number">1</span>/divide;</span><br><span class="line">	<span class="comment">//计算内矩形宽高一半的数值</span></span><br><span class="line">	<span class="built_in">int</span> w=width/<span class="number">2</span>-cirR;</span><br><span class="line">	<span class="built_in">int</span> h=height/<span class="number">2</span>-cirR;</span><br><span class="line">	<span class="comment">//循环画线</span></span><br><span class="line">    <span class="keyword">for</span>(x=<span class="number">0</span>;x&lt;<span class="number">4</span>;x+=part)&#123;</span><br><span class="line">		<span class="comment">//求出弧度</span></span><br><span class="line">		<span class="built_in">float</span> rad = PI_HALF*x;</span><br><span class="line">		<span class="comment">//计算坐标值</span></span><br><span class="line">	    tx=cirR*cos(rad)+opX[(<span class="built_in">int</span>)x]*w+centerX;</span><br><span class="line">	    ty=cirR*sin(rad)+opY[(<span class="built_in">int</span>)x]*h+centerY;</span><br><span class="line">		<span class="comment">//传入坐标画线</span></span><br><span class="line">	    glVertex2f(tx,ty);</span><br><span class="line">	&#125;</span><br><span class="line">	<span class="comment">//结束画线</span></span><br><span class="line">   glEnd();</span><br><span class="line">&#125;</span><br></pre>
                      </td>
                    </tr>
                  </table>
                </figure>
                <p>例如我们可以调用</p>
                <figure class="highlight angelscript">
                  <table>
                    <tr>
                      <td class="gutter">
                        <pre><span class="line">1</span><br></pre>
                      </td>
                      <td class="code">
                        <pre><span class="line">glRoundRec(<span class="number">0</span>,<span class="number">0</span>,<span class="number">146</span>,<span class="number">120</span>,<span class="number">15</span>);</span><br></pre>
                      </td>
                    </tr>
                  </table>
                </figure>
                <p>可以绘制如下的圆角矩形 <a href="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/0150410150933-e1428649832943.jpg" target="_blank" rel="noopener"><img src="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/0150410150933-e1428649832943.jpg" alt=""></a> </p>
                <h3 id="2-圆弧的解决方案"><a href="#2-圆弧的解决方案" class="headerlink" title="2.圆弧的解决方案"></a>2.圆弧的解决方案</h3>
                <p>对于圆弧的画法，我们也可以利用三角函数来解决，所以我们需要知道的参数就有半径，起始角度，还有圆弧的中心点。 代码实现如下</p>
                <figure class="highlight cpp">
                  <table>
                    <tr>
                      <td class="gutter">
                        <pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br></pre>
                      </td>
                      <td class="code">
                        <pre><span class="line"><span class="comment">//画弧线，相对偏移量XY，开始的弧度，结束的弧度，半径</span></span><br><span class="line"><span class="function"><span class="keyword">void</span> <span class="title">glArc</span><span class="params">(<span class="keyword">double</span> x,<span class="keyword">double</span> y,<span class="keyword">double</span> start_angle,<span class="keyword">double</span> end_angle,<span class="keyword">double</span> radius)</span></span></span><br><span class="line"><span class="function"></span>&#123;   </span><br><span class="line">	<span class="comment">//开始绘制曲线</span></span><br><span class="line">	glBegin(GL_LINE_STRIP);</span><br><span class="line">	<span class="comment">//每次画增加的弧度</span></span><br><span class="line">	<span class="keyword">double</span> delta_angle=PI/<span class="number">180</span>;</span><br><span class="line">	<span class="comment">//画圆弧</span></span><br><span class="line">	<span class="keyword">for</span> (<span class="keyword">double</span> i=start_angle;i&lt;=end_angle;i+=delta_angle)</span><br><span class="line">	&#123;</span><br><span class="line">		<span class="comment">//绝对定位加三角函数值</span></span><br><span class="line">		<span class="keyword">double</span> vx=x+radius * <span class="built_in">cos</span>(i);</span><br><span class="line">		<span class="keyword">double</span> vy=y+radius*<span class="built_in">sin</span>(i);</span><br><span class="line">		glVertex2d(vx,vy);</span><br><span class="line">	&#125;</span><br><span class="line">	<span class="comment">//结束绘画</span></span><br><span class="line">	glEnd();</span><br><span class="line">&#125;</span><br></pre>
                      </td>
                    </tr>
                  </table>
                </figure>
                <p>至于画圆，我们只需要画一个弧度为0至2PI的圆弧即可。</p>
                <figure class="highlight reasonml">
                  <table>
                    <tr>
                      <td class="gutter">
                        <pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br></pre>
                      </td>
                      <td class="code">
                        <pre><span class="line"><span class="comment">//画圆</span></span><br><span class="line">void gl<span class="constructor">Circle(<span class="params">double</span> <span class="params">x</span>, <span class="params">double</span> <span class="params">y</span>, <span class="params">double</span> <span class="params">radius</span>)</span>  </span><br><span class="line">&#123;  </span><br><span class="line">	<span class="comment">//画全圆</span></span><br><span class="line">    gl<span class="constructor">Arc(<span class="params">x</span>,<span class="params">y</span>,0,2<span class="operator">*</span>PI,<span class="params">radius</span>)</span>;  </span><br><span class="line">&#125;</span><br></pre>
                      </td>
                    </tr>
                  </table>
                </figure>
                <h3 id="3-其他图形的解决方案"><a href="#3-其他图形的解决方案" class="headerlink" title="3.其他图形的解决方案"></a>3.其他图形的解决方案</h3>
                <p>对于直线，三角形，矩形等等，就没有那么复杂了，只需要绘制几个端点即可完成绘制。在此不再赘述。</p>
                <h3 id="4-坐标的解决方案"><a href="#4-坐标的解决方案" class="headerlink" title="4.坐标的解决方案"></a>4.坐标的解决方案</h3>
                <p>要画图，最重要的便是坐标点，在此博主对图上的某些坐标进行了测量，假设总宽度为300，对应的坐标值标注如下图所示，当然比例不一样的话，坐标会有成比例的变化，在此仅作参考。 <a href="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/robot-e1428650596530.png" target="_blank" rel="noopener"><img src="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/robot-e1428650596530.png" alt="robot"></a> 在图中，某些点的坐标已做好标注，仅供参考。</p>
                <h2 id="完整程序"><a href="#完整程序" class="headerlink" title="完整程序"></a>完整程序</h2>
                <p>完整的画机器人的程序实现如下</p>
                <figure class="highlight angelscript">
                  <table>
                    <tr>
                      <td class="gutter">
                        <pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br><span class="line">32</span><br><span class="line">33</span><br><span class="line">34</span><br><span class="line">35</span><br><span class="line">36</span><br><span class="line">37</span><br><span class="line">38</span><br><span class="line">39</span><br><span class="line">40</span><br><span class="line">41</span><br><span class="line">42</span><br><span class="line">43</span><br><span class="line">44</span><br><span class="line">45</span><br><span class="line">46</span><br><span class="line">47</span><br><span class="line">48</span><br><span class="line">49</span><br><span class="line">50</span><br><span class="line">51</span><br><span class="line">52</span><br><span class="line">53</span><br><span class="line">54</span><br><span class="line">55</span><br><span class="line">56</span><br><span class="line">57</span><br><span class="line">58</span><br><span class="line">59</span><br><span class="line">60</span><br><span class="line">61</span><br><span class="line">62</span><br><span class="line">63</span><br><span class="line">64</span><br><span class="line">65</span><br><span class="line">66</span><br><span class="line">67</span><br><span class="line">68</span><br><span class="line">69</span><br><span class="line">70</span><br><span class="line">71</span><br><span class="line">72</span><br><span class="line">73</span><br><span class="line">74</span><br><span class="line">75</span><br><span class="line">76</span><br><span class="line">77</span><br><span class="line">78</span><br><span class="line">79</span><br><span class="line">80</span><br><span class="line">81</span><br><span class="line">82</span><br><span class="line">83</span><br><span class="line">84</span><br><span class="line">85</span><br><span class="line">86</span><br><span class="line">87</span><br><span class="line">88</span><br><span class="line">89</span><br><span class="line">90</span><br><span class="line">91</span><br><span class="line">92</span><br><span class="line">93</span><br><span class="line">94</span><br><span class="line">95</span><br><span class="line">96</span><br><span class="line">97</span><br><span class="line">98</span><br><span class="line">99</span><br><span class="line">100</span><br><span class="line">101</span><br><span class="line">102</span><br><span class="line">103</span><br><span class="line">104</span><br><span class="line">105</span><br><span class="line">106</span><br><span class="line">107</span><br><span class="line">108</span><br><span class="line">109</span><br><span class="line">110</span><br><span class="line">111</span><br><span class="line">112</span><br><span class="line">113</span><br><span class="line">114</span><br><span class="line">115</span><br><span class="line">116</span><br><span class="line">117</span><br><span class="line">118</span><br><span class="line">119</span><br><span class="line">120</span><br><span class="line">121</span><br><span class="line">122</span><br><span 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class="line">153</span><br><span class="line">154</span><br><span class="line">155</span><br><span class="line">156</span><br><span class="line">157</span><br><span class="line">158</span><br><span class="line">159</span><br><span class="line">160</span><br><span class="line">161</span><br><span class="line">162</span><br><span class="line">163</span><br><span class="line">164</span><br><span class="line">165</span><br><span class="line">166</span><br><span class="line">167</span><br><span class="line">168</span><br><span class="line">169</span><br><span class="line">170</span><br><span class="line">171</span><br><span class="line">172</span><br><span class="line">173</span><br><span class="line">174</span><br><span class="line">175</span><br><span class="line">176</span><br><span class="line">177</span><br><span class="line">178</span><br><span class="line">179</span><br><span class="line">180</span><br><span class="line">181</span><br><span class="line">182</span><br><span class="line">183</span><br><span class="line">184</span><br><span class="line">185</span><br><span class="line">186</span><br><span class="line">187</span><br><span class="line">188</span><br><span class="line">189</span><br><span class="line">190</span><br><span class="line">191</span><br><span class="line">192</span><br><span class="line">193</span><br><span class="line">194</span><br><span class="line">195</span><br><span class="line">196</span><br><span class="line">197</span><br><span class="line">198</span><br><span class="line">199</span><br><span class="line">200</span><br><span class="line">201</span><br><span class="line">202</span><br><span class="line">203</span><br><span class="line">204</span><br><span class="line">205</span><br><span class="line">206</span><br><span class="line">207</span><br><span class="line">208</span><br><span class="line">209</span><br><span class="line">210</span><br><span class="line">211</span><br><span class="line">212</span><br><span class="line">213</span><br><span class="line">214</span><br><span class="line">215</span><br><span class="line">216</span><br><span class="line">217</span><br><span class="line">218</span><br></pre>
                      </td>
                      <td class="code">
                        <pre><span class="line">#include &lt;glut.h&gt;</span><br><span class="line">#include &lt;math.h&gt; </span><br><span class="line">#define PI <span class="number">3.1415926</span></span><br><span class="line"></span><br><span class="line"><span class="comment">//画矩形，传入的是左下角XY坐标和右上角XY坐标</span></span><br><span class="line"><span class="built_in">void</span> glRect(<span class="built_in">int</span> leftX,<span class="built_in">int</span> leftY,<span class="built_in">int</span> rightX,<span class="built_in">int</span> rightY)&#123;</span><br><span class="line">	<span class="comment">//画封闭曲线</span></span><br><span class="line">    glBegin(GL_LINE_LOOP);</span><br><span class="line">	<span class="comment">//左下角</span></span><br><span class="line">	glVertex2d(leftX,leftY);</span><br><span class="line">	<span class="comment">//右下角</span></span><br><span class="line">	glVertex2d(rightX,leftY);</span><br><span class="line">	<span class="comment">//右上角</span></span><br><span class="line">	glVertex2d(rightX,rightY);</span><br><span class="line">	<span class="comment">//左上角</span></span><br><span class="line">	glVertex2d(leftX,rightY);</span><br><span class="line">	<span class="comment">//结束画线</span></span><br><span class="line">	glEnd();</span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"><span class="comment">//画圆角矩形，传入矩形宽高，角半径，矩形中心点坐标</span></span><br><span class="line"><span class="built_in">void</span> glRoundRec(<span class="built_in">int</span> centerX,<span class="built_in">int</span> centerY,<span class="built_in">int</span> width,<span class="built_in">int</span> height,<span class="built_in">float</span> cirR)&#123;</span><br><span class="line">	<span class="comment">//二分之PI，一个象限的角度</span></span><br><span class="line">	<span class="built_in">float</span> PI_HALF = PI/<span class="number">2</span>;</span><br><span class="line">	<span class="comment">//划分程度,值越大画得越精细</span></span><br><span class="line">	<span class="built_in">float</span> divide=<span class="number">20.0</span>;</span><br><span class="line">	<span class="comment">//圆角矩形的坐标</span></span><br><span class="line">    <span class="built_in">float</span> tx,ty; </span><br><span class="line">	<span class="comment">//画封闭曲线</span></span><br><span class="line">    glBegin(GL_LINE_LOOP);</span><br><span class="line">	<span class="comment">//四个象限不同的操作符</span></span><br><span class="line">    <span class="built_in">int</span> opX[<span class="number">4</span>]=&#123;<span class="number">1</span>,<span class="number">-1</span>,<span class="number">-1</span>,<span class="number">1</span>&#125;;</span><br><span class="line">    <span class="built_in">int</span> opY[<span class="number">4</span>]=&#123;<span class="number">1</span>,<span class="number">1</span>,<span class="number">-1</span>,<span class="number">-1</span>&#125;;</span><br><span class="line">	<span class="comment">//用来计数，从第一象限到第四象限</span></span><br><span class="line">    <span class="built_in">float</span> x=<span class="number">0</span>;</span><br><span class="line">	<span class="comment">//x自增时加的值</span></span><br><span class="line">	<span class="built_in">float</span> part=<span class="number">1</span>/divide;</span><br><span class="line">	<span class="comment">//计算内矩形宽高一半的数值</span></span><br><span class="line">	<span class="built_in">int</span> w=width/<span class="number">2</span>-cirR;</span><br><span class="line">	<span class="built_in">int</span> h=height/<span class="number">2</span>-cirR;</span><br><span class="line">	<span class="comment">//循环画线</span></span><br><span class="line">    <span class="keyword">for</span>(x=<span class="number">0</span>;x&lt;<span class="number">4</span>;x+=part)&#123;</span><br><span class="line">		<span class="comment">//求出弧度</span></span><br><span class="line">		<span class="built_in">float</span> rad = PI_HALF*x;</span><br><span class="line">		<span class="comment">//计算坐标值</span></span><br><span class="line">	    tx=cirR*cos(rad)+opX[(<span class="built_in">int</span>)x]*w+centerX;</span><br><span class="line">	    ty=cirR*sin(rad)+opY[(<span class="built_in">int</span>)x]*h+centerY;</span><br><span class="line">		<span class="comment">//传入坐标画线</span></span><br><span class="line">	    glVertex2f(tx,ty);</span><br><span class="line">	&#125;</span><br><span class="line">	<span class="comment">//结束画线</span></span><br><span class="line">   glEnd();</span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"><span class="comment">//画弧线，相对偏移量XY，开始的弧度，结束的弧度，半径</span></span><br><span class="line"><span class="built_in">void</span> glArc(<span class="built_in">double</span> x,<span class="built_in">double</span> y,<span class="built_in">double</span> start_angle,<span class="built_in">double</span> end_angle,<span class="built_in">double</span> radius)</span><br><span class="line">&#123;   </span><br><span class="line">	<span class="comment">//开始绘制曲线</span></span><br><span class="line">	glBegin(GL_LINE_STRIP);</span><br><span class="line">	<span class="comment">//每次画增加的弧度</span></span><br><span class="line">	<span class="built_in">double</span> delta_angle=PI/<span class="number">180</span>;</span><br><span class="line">	<span class="comment">//画圆弧</span></span><br><span class="line">	<span class="keyword">for</span> (<span class="built_in">double</span> i=start_angle;i&lt;=end_angle;i+=delta_angle)</span><br><span class="line">	&#123;</span><br><span class="line">		<span class="comment">//绝对定位加三角函数值</span></span><br><span class="line">		<span class="built_in">double</span> vx=x+radius * cos(i);</span><br><span class="line">		<span class="built_in">double</span> vy=y+radius*sin(i);</span><br><span class="line">		glVertex2d(vx,vy);</span><br><span class="line">	&#125;</span><br><span class="line">	<span class="comment">//结束绘画</span></span><br><span class="line">	glEnd();</span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"></span><br><span class="line"><span class="comment">//画圆</span></span><br><span class="line"><span class="built_in">void</span> glCircle(<span class="built_in">double</span> x, <span class="built_in">double</span> y, <span class="built_in">double</span> radius)  </span><br><span class="line">&#123;  </span><br><span class="line">	<span class="comment">//画全圆</span></span><br><span class="line">    glArc(x,y,<span class="number">0</span>,<span class="number">2</span>*PI,radius);  </span><br><span class="line">&#125;  </span><br><span class="line"></span><br><span class="line"><span class="comment">//画三角形，传入三个点的坐标</span></span><br><span class="line"><span class="built_in">void</span> glTri(<span class="built_in">int</span> x1,<span class="built_in">int</span> y1,<span class="built_in">int</span> x2,<span class="built_in">int</span> y2,<span class="built_in">int</span> x3,<span class="built_in">int</span> y3)&#123;</span><br><span class="line">	<span class="comment">//画封闭线</span></span><br><span class="line">    glBegin(GL_LINE_LOOP);</span><br><span class="line">	<span class="comment">//一点</span></span><br><span class="line">	glVertex2d(x1,y1);</span><br><span class="line">	<span class="comment">//二点</span></span><br><span class="line">	glVertex2d(x2,y2);</span><br><span class="line">	<span class="comment">//三点</span></span><br><span class="line">	glVertex2d(x3,y3);</span><br><span class="line">	<span class="comment">//结束画线</span></span><br><span class="line">	glEnd();</span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"><span class="comment">//画线，传入两点坐标</span></span><br><span class="line"><span class="built_in">void</span> glLine(<span class="built_in">int</span> x1,<span class="built_in">int</span> y1,<span class="built_in">int</span> x2,<span class="built_in">int</span> y2)&#123;</span><br><span class="line">	<span class="comment">//画封闭线</span></span><br><span class="line">    glBegin(GL_LINE_STRIP);</span><br><span class="line">	<span class="comment">//一点</span></span><br><span class="line">	glVertex2d(x1,y1);</span><br><span class="line">	<span class="comment">//二点</span></span><br><span class="line">	glVertex2d(x2,y2);</span><br><span class="line">	<span class="comment">//结束画线</span></span><br><span class="line">	glEnd();</span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"><span class="comment">//函数用来画图</span></span><br><span class="line"><span class="built_in">void</span> display(<span class="built_in">void</span>)</span><br><span class="line">&#123;</span><br><span class="line">	<span class="comment">//GL_COLOR_BUFFER_BIT表示清除颜色</span></span><br><span class="line">	glClear(GL_COLOR_BUFFER_BIT);</span><br><span class="line">	<span class="comment">//设置画线颜色</span></span><br><span class="line">    glColor3f(<span class="number">0.5</span>,<span class="number">0.5</span>,<span class="number">0.5</span>);</span><br><span class="line">	<span class="comment">//画点大小</span></span><br><span class="line">	glPointSize(<span class="number">2</span>);</span><br><span class="line">	<span class="comment">//画圆角矩形，大肚子</span></span><br><span class="line">	glRoundRec(<span class="number">0</span>,<span class="number">0</span>,<span class="number">146</span>,<span class="number">120</span>,<span class="number">15</span>);</span><br><span class="line">	<span class="comment">//画圆，中间小圈</span></span><br><span class="line">	glCircle(<span class="number">0</span>,<span class="number">0</span>,<span class="number">10</span>);</span><br><span class="line">	<span class="comment">//画矩形，脖子</span></span><br><span class="line">	glRect(<span class="number">-25</span>,<span class="number">60</span>,<span class="number">25</span>,<span class="number">76</span>);</span><br><span class="line">	<span class="comment">//画圆角矩形，大脸</span></span><br><span class="line">	glRoundRec(<span class="number">0</span>,<span class="number">113</span>,<span class="number">128</span>,<span class="number">74</span>,<span class="number">10</span>);</span><br><span class="line">	<span class="comment">//两个眼睛</span></span><br><span class="line">	glCircle(<span class="number">-30</span>,<span class="number">111</span>,<span class="number">10</span>);</span><br><span class="line">	glCircle(<span class="number">30</span>,<span class="number">111</span>,<span class="number">10</span>);</span><br><span class="line">	<span class="comment">//两条天线</span></span><br><span class="line">	glLine(<span class="number">-35</span>,<span class="number">150</span>,<span class="number">-35</span>,<span class="number">173</span>);</span><br><span class="line">	glLine(<span class="number">35</span>,<span class="number">150</span>,<span class="number">35</span>,<span class="number">173</span>);</span><br><span class="line">	<span class="comment">//圆角矩形，两个耳朵</span></span><br><span class="line">	glRoundRec(<span class="number">81</span>,<span class="number">115</span>,<span class="number">20</span>,<span class="number">34</span>,<span class="number">5</span>);</span><br><span class="line">	glRoundRec(<span class="number">-81</span>,<span class="number">115</span>,<span class="number">20</span>,<span class="number">34</span>,<span class="number">5</span>);</span><br><span class="line">	<span class="comment">//圆弧，画嘴</span></span><br><span class="line">	glArc(<span class="number">0</span>,<span class="number">133</span>,<span class="number">11</span>*PI/<span class="number">8</span>,<span class="number">13</span>*PI/<span class="number">8</span>,<span class="number">45</span>);</span><br><span class="line">	<span class="comment">//画三角，肚子里的三角</span></span><br><span class="line">	glTri(<span class="number">-30</span>,<span class="number">-15</span>,<span class="number">30</span>,<span class="number">-15</span>,<span class="number">0</span>,<span class="number">28</span>);</span><br><span class="line">	<span class="comment">//画矩形，胳膊连接处</span></span><br><span class="line">	glRect(<span class="number">-81</span>,<span class="number">43</span>,<span class="number">-73</span>,<span class="number">25</span>);</span><br><span class="line">	glRect(<span class="number">81</span>,<span class="number">43</span>,<span class="number">73</span>,<span class="number">25</span>);</span><br><span class="line">	<span class="comment">//画矩形，上臂</span></span><br><span class="line">	glRect(<span class="number">-108</span>,<span class="number">45</span>,<span class="number">-81</span>,<span class="number">0</span>);</span><br><span class="line">	glRect(<span class="number">108</span>,<span class="number">45</span>,<span class="number">81</span>,<span class="number">0</span>);</span><br><span class="line">	<span class="comment">//画矩形，中臂</span></span><br><span class="line">	glRect(<span class="number">-101</span>,<span class="number">0</span>,<span class="number">-88</span>,<span class="number">-4</span>);</span><br><span class="line">	glRect(<span class="number">101</span>,<span class="number">0</span>,<span class="number">88</span>,<span class="number">-4</span>);</span><br><span class="line">	<span class="comment">//画矩形，下臂</span></span><br><span class="line">	glRect(<span class="number">-108</span>,<span class="number">-4</span>,<span class="number">-81</span>,<span class="number">-37</span>);</span><br><span class="line">	glRect(<span class="number">108</span>,<span class="number">-4</span>,<span class="number">81</span>,<span class="number">-37</span>);</span><br><span class="line">	<span class="comment">//画圆形，手掌</span></span><br><span class="line">	glCircle(<span class="number">-95</span>,<span class="number">-47</span>,<span class="number">10</span>);</span><br><span class="line">	glCircle(<span class="number">95</span>,<span class="number">-47</span>,<span class="number">10</span>);</span><br><span class="line">	<span class="comment">//画腿连接处</span></span><br><span class="line">	glRect(<span class="number">-41</span>,<span class="number">-62</span>,<span class="number">-21</span>,<span class="number">-66</span>);</span><br><span class="line">	glRect(<span class="number">41</span>,<span class="number">-62</span>,<span class="number">21</span>,<span class="number">-66</span>);</span><br><span class="line">	<span class="comment">//画圆角矩形，大长腿</span></span><br><span class="line">	glRoundRec(<span class="number">-32</span>,<span class="number">-92</span>,<span class="number">38</span>,<span class="number">52</span>,<span class="number">10</span>);</span><br><span class="line">	glRoundRec(<span class="number">32</span>,<span class="number">-92</span>,<span class="number">38</span>,<span class="number">52</span>,<span class="number">10</span>);</span><br><span class="line">	<span class="comment">//画矩形，脚踝</span></span><br><span class="line">	glRect(<span class="number">-41</span>,<span class="number">-125</span>,<span class="number">-21</span>,<span class="number">-117</span>);</span><br><span class="line">	glRect(<span class="number">41</span>,<span class="number">-125</span>,<span class="number">21</span>,<span class="number">-117</span>);</span><br><span class="line">	<span class="comment">//画矩形，大脚掌</span></span><br><span class="line">	glRect(<span class="number">-59</span>,<span class="number">-125</span>,<span class="number">-8</span>,<span class="number">-137</span>);</span><br><span class="line">	glRect(<span class="number">59</span>,<span class="number">-125</span>,<span class="number">8</span>,<span class="number">-137</span>);</span><br><span class="line">	</span><br><span class="line">	<span class="comment">//保证前面的OpenGL命令立即执行，而不是让它们在缓冲区中等待 </span></span><br><span class="line">	glFlush();</span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"></span><br><span class="line"><span class="comment">//窗口大小变化时调用的函数</span></span><br><span class="line"><span class="built_in">void</span> ChangeSize(GLsizei w,GLsizei h)  </span><br><span class="line">&#123;  </span><br><span class="line">	<span class="comment">//避免高度为0</span></span><br><span class="line">    <span class="keyword">if</span>(h==<span class="number">0</span>) &#123;  </span><br><span class="line">        h=<span class="number">1</span>;  </span><br><span class="line">    &#125;  </span><br><span class="line">    <span class="comment">//定义视口大小，宽高一致  </span></span><br><span class="line">    glViewport(<span class="number">0</span>,<span class="number">0</span>,w,h);</span><br><span class="line">	<span class="built_in">int</span> half = <span class="number">200</span>;</span><br><span class="line">	<span class="comment">//重置坐标系统，使投影变换复位</span></span><br><span class="line">    glMatrixMode(GL_PROJECTION); </span><br><span class="line">	<span class="comment">//将当前的用户坐标系的原点移到了屏幕中心</span></span><br><span class="line">    glLoadIdentity();  </span><br><span class="line">   <span class="comment">//定义正交视域体  </span></span><br><span class="line">    <span class="keyword">if</span>(w&lt;h) &#123;</span><br><span class="line">		<span class="comment">//如果高度大于宽度，则将高度视角扩大，图形显示居中</span></span><br><span class="line">        glOrtho(-half,half,-half*h/w,half*h/w,-half,half);  </span><br><span class="line">    &#125; <span class="keyword">else</span> &#123;</span><br><span class="line">		<span class="comment">//如果宽度大于高度，则将宽度视角扩大，图形显示居中</span></span><br><span class="line">        glOrtho(-half*w/h,half*w/h,-half,half,-half,half);  </span><br><span class="line">    &#125;  </span><br><span class="line">  </span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"><span class="comment">//程序入口</span></span><br><span class="line"><span class="built_in">int</span> main(<span class="built_in">int</span> argc, char *argv[])&#123;</span><br><span class="line">	<span class="comment">//对GLUT进行初始化，并处理所有的命令行参数</span></span><br><span class="line">	glutInit(&amp;argc, argv);</span><br><span class="line">	<span class="comment">//指定RGB颜色模式和单缓冲窗口</span></span><br><span class="line">	glutInitDisplayMode(GLUT_RGB | GLUT_SINGLE);</span><br><span class="line">	<span class="comment">//定义窗口的位置</span></span><br><span class="line">	glutInitWindowPosition(<span class="number">100</span>, <span class="number">100</span>);</span><br><span class="line">	<span class="comment">//定义窗口的大小</span></span><br><span class="line">	glutInitWindowSize(<span class="number">400</span>, <span class="number">400</span>);</span><br><span class="line">	<span class="comment">//创建窗口，同时为之命名</span></span><br><span class="line">	glutCreateWindow(<span class="string">"OpenGL"</span>);</span><br><span class="line">	<span class="comment">//设置窗口清除颜色为白色</span></span><br><span class="line">	glClearColor(<span class="number">1.0f</span>,<span class="number">1.0f</span>,<span class="number">1.0f</span>,<span class="number">1.0f</span>);</span><br><span class="line">	<span class="comment">//参数为一个函数，绘图时这个函数就会被调用</span></span><br><span class="line">	glutDisplayFunc(&amp;display);</span><br><span class="line">	<span class="comment">//参数为一个函数，当窗口大小改变时会被调用</span></span><br><span class="line">	glutReshapeFunc(ChangeSize); </span><br><span class="line">	<span class="comment">//该函数让GLUT框架开始运行，所有设置的回调函数开始工作，直到用户终止程序为止</span></span><br><span class="line">	glutMainLoop();</span><br><span class="line">	<span class="comment">//程序返回</span></span><br><span class="line">	<span class="keyword">return</span> <span class="number">0</span>;</span><br><span class="line">&#125;</span><br></pre>
                      </td>
                    </tr>
                  </table>
                </figure>
                <p>运行效果如下图所示 <a href="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/20150410152854.jpg" target="_blank" rel="noopener"><img src="http://qiniu.cuiqingcai.com/wp-content/uploads/2015/04/20150410152854.jpg" alt="20150410152854"></a></p>
                <h2 id="综述-1"><a href="#综述-1" class="headerlink" title="综述"></a>综述</h2>
                <p>当然，这里直接调用了类库中的画线方法，而且用的是三角函数定位坐标。对于DDA算法等实现还没有进行替换，等实现DDA算法之后，再将绘制直线，圆弧等等的算法替换掉。同样可以实现机器人的绘制。 希望对大家有帮助！</p>
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                  <li class="nav-item nav-level-2"><a class="nav-link" href="#综述"><span class="nav-number">1.</span> <span class="nav-text">综述</span></a></li>
                  <li class="nav-item nav-level-2"><a class="nav-link" href="#绘制要求"><span class="nav-number">2.</span> <span class="nav-text">绘制要求</span></a></li>
                  <li class="nav-item nav-level-2"><a class="nav-link" href="#问题分析"><span class="nav-number">3.</span> <span class="nav-text">问题分析</span></a>
                    <ol class="nav-child">
                      <li class="nav-item nav-level-3"><a class="nav-link" href="#1-圆角矩形的解决方案"><span class="nav-number">3.1.</span> <span class="nav-text">1.圆角矩形的解决方案</span></a></li>
                      <li class="nav-item nav-level-3"><a class="nav-link" href="#2-圆弧的解决方案"><span class="nav-number">3.2.</span> <span class="nav-text">2.圆弧的解决方案</span></a></li>
                      <li class="nav-item nav-level-3"><a class="nav-link" href="#3-其他图形的解决方案"><span class="nav-number">3.3.</span> <span class="nav-text">3.其他图形的解决方案</span></a></li>
                      <li class="nav-item nav-level-3"><a class="nav-link" href="#4-坐标的解决方案"><span class="nav-number">3.4.</span> <span class="nav-text">4.坐标的解决方案</span></a></li>
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